The recent work by Parkison et al.  [1]} develops a point cloud registration algorithm by directly incorporating image-based semantic information into the estimation of the relative transformation between two point clouds.
A subsequent work by Zaganidis et al.  [2]} realizes both LiDAR combined with images and LiDAR only semantic 3D point cloud registration. Both approaches use semantic information to improve pose estimation, but they cannot be used for online operation because of the long processing time.
